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* Author: TKruse
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#ifndef OSCILLATION_COST_FUNCTION_H_
#define OSCILLATION_COST_FUNCTION_H_

#include <base_local_planner/trajectory_cost_function.h>
#include <Eigen/Core>

namespace base_local_planner
{

class OscillationCostFunction : public base_local_planner::TrajectoryCostFunction
{
public:
    OscillationCostFunction();

    virtual ~OscillationCostFunction();

    double scoreTrajectory(Trajectory &traj);

    bool prepare() { return true; };

    /**
     * @brief  Reset the oscillation flags for the local planner
     */
    void resetOscillationFlags();

    void updateOscillationFlags(Eigen::Vector3f pos, base_local_planner::Trajectory *traj, double min_vel_trans);

    void setOscillationResetDist(double dist, double angle);

private:

    void resetOscillationFlagsIfPossible(const Eigen::Vector3f &pos, const Eigen::Vector3f &prev);

    /**
     * @brief  Given a trajectory that's selected, set flags if needed to
     * prevent the robot from oscillating
     * @param  t The selected trajectory
     * @return True if a flag was set, false otherwise
     */
    bool setOscillationFlags(base_local_planner::Trajectory *t, double min_vel_trans);

    // flags
    bool strafe_pos_only_, strafe_neg_only_, strafing_pos_, strafing_neg_;
    bool rot_pos_only_, rot_neg_only_, rotating_pos_, rotating_neg_;
    bool forward_pos_only_, forward_neg_only_, forward_pos_, forward_neg_;
    // param
    double oscillation_reset_dist_, oscillation_reset_angle_;
    Eigen::Vector3f prev_stationary_pos_;
};

} /* namespace base_local_planner */
#endif /* OSCILLATION_COST_FUNCTION_H_ */
